/*
 *  Copyright 2018, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *  1. Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *
 *  2. Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *
 *  3. Neither the name of the copyright holder nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 *  wrapper_global_planner.cpp
 *
 *  authors:
 *    Sebastian Pütz <spuetz@uni-osnabrueck.de>
 *    Jorge Santos Simón <santos@magazino.eu>
 *
 */

#ifndef MBF_COSTMAP_NAV__WRAPPER_GLOBAL_PLANNER_H_
#define MBF_COSTMAP_NAV__WRAPPER_GLOBAL_PLANNER_H_

#include <nav_core/base_global_planner.h>
#include "mbf_costmap_core/costmap_planner.h"

namespace mbf_nav_core_wrapper
{
/**
 * @class CostmapPlanner
 * @brief Provides an interface for global planners used in navigation.
 * All global planners written to work as MBF plugins must adhere to this interface. Alternatively, this
 * class can also operate as a wrapper for old API nav_core-based plugins, providing backward compatibility.
 */
class WrapperGlobalPlanner : public mbf_costmap_core::CostmapPlanner
{
public:

    /**
     * @brief Public constructor used for handling a nav_core-based plugin
     * @param plugin Backward compatible plugin
     */
    WrapperGlobalPlanner(boost::shared_ptr<nav_core::BaseGlobalPlanner> plugin);

    /**
     * @brief  Virtual destructor for the interface
     */
    virtual ~WrapperGlobalPlanner();

    /**
     * @brief Initialization function for the CostmapPlanner
     * @param name The name of this planner
     * @param costmap_ros A pointer to the ROS wrapper of the costmap to use for planning
     */
    virtual void initialize(std::string name, costmap_2d::Costmap2DROS *costmap_ros);

    /**
     * @brief Given a goal pose in the world, compute a plan
     * @param start The start pose
     * @param goal The goal pose
     * @param tolerance If the goal is obstructed, how many meters the planner can relax the constraint
     *        in x and y before failing
     * @param plan The plan... filled by the planner
     * @param cost The cost for the the plan
     * @param message Optional more detailed outcome as a string
     * @return Result code as described on GetPath action result, As this is a wrapper to the nav_core,
     *         only 0 (SUCCESS) and 50 (FAILURE) are supported
     */
    virtual uint32_t makePlan(const geometry_msgs::PoseStamped &start, const geometry_msgs::PoseStamped &goal,
                              double tolerance, std::vector<geometry_msgs::PoseStamped> &plan, double &cost,
                              std::string &message);

    /**
     * @brief Requests the planner to cancel, e.g. if it takes too much time.
     * @remark New on MBF API
     * @return True if a cancel has been successfully requested, false if not implemented.
     */
    virtual bool cancel() { return false; }

private:
    boost::shared_ptr<nav_core::BaseGlobalPlanner> nav_core_plugin_;
};
}  /* namespace mbf_nav_core_wrapper */

#endif  /* MBF_COSTMAP_NAV__WRAPPER_GLOBAL_PLANNER_H_ */
